`rpi_setup.launch`文件主要是用来启动机械臂所有的ROS节点。`gauss_rpi`调用了`rpi_ros_processes.yaml`文件列举的launch文件。 ```` <?xml version="0.0"?> <launch> <arg name="execute_on_gauss_raspberry_pi_image" default="true" /> <!-- Load the URDF, SRDF and other .yaml configuration files on the param server --> <arg name="urdf_without_meshes" default="true" /> <include file="$(find gauss_bringup)/launch/gauss_base.launch" pass_all_args="true"/> <!-- rosbridge websocket server --> <node name="tf2_web_republisher" pkg="tf2_web_republisher" type="tf2_web_republisher"/> <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" /> <!-- Setup interface --> <node name="gauss_rpi" pkg="gauss_rpi" type="gauss_rpi_node.py" output="screen"> <param name="launch_ros_processes" type="boolean" value="true" /> <param name="process_state_publish_rate" type="double" value="0.33" /> <param name="wifi_manager_enabled" type="boolean" value="true" /> <param name="hotspot_ssid" type="string" value="gauss" /> <!-- MAC address will be added to make it unique --> <param name="hotspot_password" type="string" value="tonyrobot" /> <param name="filename_robot_name" type="string" value="~/gauss_saved_values/robot_name_for_user.txt" /> <rosparam file="$(find gauss_bringup)/config/rpi_ros_processes.yaml" /> <param name="publish_io_state_frequency" type="double" value="10.0" /> <param name="modbus_server_enabled" type="boolean" value="true" /> <param name="modbus_server_address" type="string" value="0.0.0.0" /> <param name="modbus_server_port" type="int" value="5020" /> <param name="ros_log_size_treshold" type="int" value="1024" /> <!-- 1024 MB --> <param name="should_purge_ros_log_on_startup_file" type="string" value="~/gauss_saved_values/purge_ros_log_at_startup.txt" /> <!-- don't change that unless you manually change ros log location --> <param name="ros_log_location" type="string" value="~/.ros/log" /> </node> <node name="gauss_IK_server" pkg="gauss_commander" type="gauss_IK_server.py" output="screen"> </node> </launch> ```